JP6216019B2 - Separation of instrument shaft roll and end effector actuation in surgical instruments - Google Patents

Description

(Cross-reference of related applications)
This application is a US Provisional Patent Application No. 61/413, filed on Nov. 15, 2010 under the name of “METHOD FOR PASSIVELY DECOPLING TORQUE APPLIED BY A REMOTE ACTUATOR INTO AN INDEPENDENTY ROTATING MEMBER”. ISRG 02930PROV / US), and US Provisional Patent Application No. 61/49, filed on May 31, 2011, under the name of “DECOUPLING INSTRUMENT SHAFT AND END EFFECTOR ACTION IN IN A SURGICAL INSTRUMENT” ISRG 03310 / US), which is hereby incorporated by reference in its entirety. It is use.

  Minimally invasive surgical techniques aim to reduce the amount of extraneous tissue that is injured during diagnosis or surgery, thereby reducing patient recovery time, discomfort, and adverse side effects. As a result, the average length of a standard surgical hospitalization can be significantly shortened using minimally invasive surgical techniques. Also, patient recovery time, patient discomfort, surgical side effects, and time away from work can be reduced by minimally invasive surgery.

  A common form of minimally invasive surgery is endoscopy, and a common form of endoscopy is laparoscopic, which is a minimally invasive examination and operation inside the abdominal cavity. In standard laparoscopic surgery, the patient's abdomen is insufflated and the cannula sleeve is passed through a small (about ½ inch or less) incision to provide an entry port for the laparoscopic instrument.

  Laparoscopic surgical instruments generally include an endoscope (laparoscope) for viewing the surgical field and a tool for working at the surgical site. Work tools are used in conventional (open) surgery, except that the working end or end effector of each tool is separated from its handle by an extension tube (also known as an instrument shaft or main shaft, for example). It is generally the same as that to be done. The end effector can include, for example, a clamp, a grasping device, a heel, an anastomosis device, an ablation tool, a linear cutter, or a needle holder.

  To perform the surgery, the surgeon passes the working tools through the cannula sleeve to the internal surgical site and manipulates them from outside the abdomen. The surgeon visually recognizes the surgery from a monitor that displays an image of the surgical site obtained from the endoscope. Similar endoscopic techniques include, for example, arthroscopy, retroperitoneoscopy, pelvicoscopy, nephroscopy, cystoscopy, cisternoscopy, sinoatroscopy, hysteroscopy, urethoscopy, and the like Used in things.

  A minimally invasive telesurgical robotic system increases the surgeon's dexterity when working at an internal surgical site and allows the surgeon to operate on a patient from a remote location (outside the sterile field) Has been developed. In telesurgical systems, surgeons are often provided with images of the surgical site at the control console. While viewing a three-dimensional image of the surgical site on an appropriate viewer or display, the surgeon performs the surgery on the patient by manipulating the control console master input or control device. Each of the master input devices controls the movement of the servomechanically actuated / articulated surgical instrument. During surgery, the telesurgical system may perform various functions for the surgeon, such as holding or pushing a needle, grasping a blood vessel, dissociating tissue, or the like, depending on the operation of the master input device. It is possible to provide mechanical actuation and control of various surgical instruments or tools having end effectors that perform the following.

  In many existing minimally invasive telesurgical robotic systems, operation of surgical instruments is provided by a surgical robot having several robotic arms. Each robot arm has a number of robot joints and attachments for attachment of surgical instruments. Integrated into at least one of the wearers is a number of drive couplers (eg, rotary drive couplers) that are coupled to transmit power to the corresponding input coupler of the surgical instrument. The surgical instrument powers the input coupler to the corresponding movement of the surgical instrument (eg, rotation of main shaft, end effector pitch, end effector yaw, end effector jaw clamping, staple placement, tissue cutting, etc.) Including a mechanism that couples to communicate. In many existing minimally invasive telesurgical robot systems, the drive coupler of each surgical robot is cable driven, for example, to provide precise control over the movement of the output coupler as is possible in cable driven actuation systems. is there. By accurately controlling the movement of the output coupler, precise control over the corresponding associated movement of the surgical instrument can be achieved.

  Cable driven output couplers typically have a limited range of motion. Such limited range of motion may not be detrimental if the output coupler is associated with end effector movement that is not affected by other movements of the end effector. However, such limited range of motion can be detrimental if the output coupler is associated with end effector movement that is affected by another end effector movement. For example, rotation of the instrument shaft can be detrimentally linked to rotation of the drive shaft used to drive an end effector mechanism (eg, clamping mechanism, staple placement mechanism, tissue cutting mechanism, etc.). Compensation operations of the output coupler in relation to the rotation of the instrument shaft and the rotation of the drive shaft can be performed, but such compensation operation is part of the limited range of motion of the output coupler that can be used for the main purpose. Decrease.

  Accordingly, there is considered a need for a surgical instrument and associated method to decouple the associated movement of the surgical instrument, particularly to decouple the operation of the instrument shaft roll and end effector of the surgical instrument.

  The operation and control of these end effectors is also a particularly beneficial aspect of a robotic surgical system. For this reason, it is desirable to provide a surgical tool that includes a mechanism that provides a three degree of freedom rotational movement of the end effector so as to mimic the natural movement of the surgeon's wrist. Such a mechanism should be appropriately sized for use in minimally invasive surgery and should be of a relatively simple design to reduce potential points of failure. In addition, such a mechanism should provide a sufficient range of motion that allows the end effector to be operated in a wide variety of positions.

  Non-robot linear clamping, cutting, and stapling devices are employed in many different procedures. For example, such a device can be used to remove cancerous or abnormal tissue from the gastrointestinal tract. Many known surgical devices, including known linear clamping, cutting, and stapling devices, often have opposing jaws that are used to manipulate patient tissue.

  For known devices with opposing jaws, a significant amount of mechanical power is effectively supplied to the end effector to clamp the tissue, anastomosing the tissue, cutting the tissue, etc. There must be. In most cases, the main shaft of the instrument is supplied to the end effector by compression of the main shaft against tension or by tension of the main shaft against torque supplied via a drive shaft disposed within the main shaft. Must resist at least part of the mechanical force and / or torque. If the main shaft or the mechanism used to rotate and position the main shaft is not rigid enough, the main shaft can move unexpectedly in response to reaction force or torque.

  Accordingly, a surgical assembly that transmits high drive torque to an end effector that does not experience unintentional rotation of an independently rotatable main shaft used to support the end effector due to the transmitted drive torque There is a need for

  A surgical assembly and associated method for providing decoupling of the instrument shaft roll and end effector is disclosed. In many embodiments, the differential device combines an action associated with the rotation of the instrument shaft with an input action so that the end effector drive mechanism supported by the distal end of the instrument shaft generates an output action. Used for. The drive mechanism articulates a part of the end effector (for example, a gripping jaw, a mechanism for arranging staples, a tissue cutting mechanism, etc.). The differential is such that rotation of the instrument shaft results in substantially zero articulation of the end effector portion, thus eliminating the possibility of any deleterious coupling between instrument shaft rotation and end effector actuation. Can be configured.

  Accordingly, in one aspect, a surgical assembly is provided. The surgical assembly is mounted on a base, an instrument shaft rotatably attached to the base and extending between a distal end and a proximal end, supported at the distal end of the instrument shaft and driven by a rotational motion. An end effector including an actuating mechanism, a drive shaft rotatably coupled to the actuating mechanism and configured to provide rotational motion to the actuating mechanism, and a first input motion rotatably coupled to the drive shaft And a differential that receives the second input motion. The differential is configured to combine the first and second motions to generate a rotational motion that rotates the drive shaft. The first input motion can be rotatably coupled to the actuation source. The second input motion is coupled to the rotation of the instrument shaft relative to the base. In many embodiments, the end effector includes a jaw that is articulated by an actuation mechanism.

  The surgical assembly may be configured to substantially decouple the actuation mechanism actuation from the instrument shaft rotation. For example, the differential can be configured such that rotation of the instrument shaft relative to the base results in substantially zero rotation of the drive shaft relative to the instrument shaft when the first input motion is zero.

  The differential can be realized by using cables and pulleys. For example, the differential may include a first cable that drive-couples rotation of the drive shaft relative to the base with rotation of the instrument shaft relative to the base and a second cable that is drive-coupled to the operating source. In many embodiments, the second cable is coupled to first and second pulley blocks having first and second pulleys, respectively, and the first cable is hung on the first and second pulleys. As another example, the differential may include a first cable that drive-couples rotation of the drive shaft relative to the base with the actuation source and a second cable that is drive-coupled to rotation of the instrument shaft relative to the base. In many embodiments, the second cable is hung on first and second pulley blocks having first and second pulleys, respectively, and the first cable is hung on the first and second pulleys.

  The differential may include a planetary gearbox that includes a sun gear, a planetary gear coupled to a carrier, and a ring gear. In many embodiments, the first input motion rotates the carrier, the second input motion rotates the sun gear, and the rotation of the ring gear is transmitted to the drive shaft. The first input motion can be transmitted to the carrier through the input shaft. The sun gear can then rotate around the input shaft. In many embodiments, the input shaft is oriented across the instrument shaft. The surgical assembly may include a torsion spring coupled between the base and the carrier to return the drive shaft to a predetermined rotational position relative to the instrument shaft upon separation between the actuation source and the carrier.

  In another aspect, a method provides for decoupling rotation of a surgical instrument shaft from rotation of a drive shaft that is drivably coupled to an end effector mechanism. The method generates a first input motion associated with a desired end effector arrangement; a surgical instrument shaft extending between a proximal end adjacent the base and a distal end supporting the end effector. Generating a second input motion in response to rotation of the surgical instrument shaft relative to the base; combining the first and second input motions to generate an output motion; and Rotating the drive shaft in response to the output motion. In many embodiments, the first and second input motions are combined such that substantially no rotation of the drive shaft relative to the surgical instrument shaft occurs when the first input motion is zero.

  The method can be realized by using a cable. For example, the method may move the first cable in response to rotation of the surgical instrument shaft relative to the base, move the second cable, and the first pulley and the second pulley in response to movement of the second cable. Moving the first cable on each of the first and second pulleys, and rotating the drive shaft in response to movement of the first cable. In many embodiments, the method includes hanging the first cable over each of the first and second pulleys beyond the approximately 180 degree fan of each pulley. As another example, the method includes moving the first cable, moving the second cable in response to rotation of the surgical instrument shaft relative to the base, the first pulley and the second in response to movement of the second cable. Moving the two pulleys, hanging the first cable on each of the first and second pulleys, and rotating the drive shaft in response to movement of the first cable. In many embodiments, the method includes hanging the first cable over each of the first and second pulleys beyond the approximately 180 degree fan of each pulley.

  The method can be implemented by using a differential gear assembly. For example, the method rotates the first input link of the differential gear assembly in response to the first input movement, and rotates the second input link of the differential gear assembly in response to the second input movement. And rotating the drive shaft in response to rotation of the output link of the differential gear assembly. In many embodiments, the differential gear assembly includes a planetary gear assembly having a sun gear, a planetary gear coupled to a carrier, and a ring gear. Any connection of the first and second input motions to the differential gear assembly may be used. For example, the first input motion can rotate the carrier, the second input motion can rotate the sun gear, and the output motion can be generated by rotation of the ring gear. The method may include transmitting a first input motion to the carrier through the input shaft and rotating the sun gear about the input shaft. In many embodiments, the input shaft is oriented across the instrument shaft. The method may include returning the end effector mechanism to a predetermined arrangement upon separation between the actuation source that generates the first input motion and the first input link of the differential gear assembly.

  The surgical assembly and associated methods also provide high levels of operating torque transmission to the end effector rotation mechanism supported by the independently rotatable main shaft without causing undesired rotation of the main shaft. To disclose. The input drive shaft is passively exposed to a reaction torque opposite to the direction of the operating torque transmitted to the rotating mechanism to inhibit unintentional rotation of the main shaft (e.g., back driving) It is connected to both the rotation mechanism and the main shaft via a speed change and rotation coupling. The disclosed assembly and method can be extended to transmit high levels of operating torque to two or more rotation mechanisms of the end effector while passively inhibiting unintentional rotation of the main shaft. The disclosed assembly and method can be particularly advantageous when used in a minimally invasive robotic surgical assembly and method.

  Accordingly, in another aspect, a minimally invasive robotic surgical assembly is provided. The surgical assembly includes a base; a main shaft that is rotatably attached to the base and includes a main shaft, an end effector supported by the main shaft, and a first end effector drive shaft drivably coupled to the end effector. An assembly; a main shaft drive for driving the main shaft relative to the base; a first input drive shaft for transmitting a first input torque; and a first rotatably connected to the first drive shaft An input link, a first output link rotatably connected to the first end effector drive shaft, and a first transmission having a first base link. The first transmission device has a first gear between the first input link and the first output link so as to transmit the first output torque to the main shaft assembly according to the first input torque. Provides a ratio. The first end effector torque is transmitted to the end effector by the first end effector drive shaft in response to the first output torque. The first base link transmits the first reaction torque, which is opposite to the direction from the first output torque, to the main shaft in response to the first input torque. A gear ratio of 2 is rotatably connected to the main shaft. The first reaction torque suppresses the rotational drive of the main shaft assembly by the first output torque. The first output link may be coupled to the first end effector drive shaft via a rotary coupling that provides a non-single gear ratio.

  In many embodiments, the magnitude of the first reaction torque is at least approximately equal to the magnitude of the first output torque. Preferably, the magnitude of the first reaction torque is within 10 percent of the magnitude of the first output torque. Ideally, the magnitude of the first reaction torque is within 2 percent of the magnitude of the first output torque.

  In many embodiments, the main shaft assembly is configured such that when the main shaft is exposed to a net torque that exceeds a back driving torque threshold, the main shaft back drives the main shaft drive and the main shaft has a net torque that is less than the back driving torque threshold. Has a back driving torque threshold that does not back drive the main shaft drive when exposed to The magnitude of the first reaction torque may differ from the magnitude of the first output torque by a first net torque that is less than the back driving torque threshold. Preferably, the magnitude of the first net torque is less than 50 percent of the back driving torque threshold. More preferably, the magnitude of the first net torque is less than 25 percent of the back driving torque threshold. Even more preferably, the magnitude of the first net torque is less than 10 percent of the back driving torque threshold. Ideally, the magnitude of the first net torque is less than 2% of the back driving torque threshold.

  In many embodiments, the first transmission includes a first planetary gearbox having a first sun gear, a first ring gear, and a first planetary gear supported on a first carrier. In many embodiments, the first sun gear corresponds to a first input link, the first carrier corresponds to a first output link, and the first ring gear corresponds to a first base link. In many embodiments, the first carrier corresponds to the first input link, the first sun gear corresponds to the first output link, and the first ring gear corresponds to the first base link. In many embodiments, the first sun gear or the first carrier corresponds to the first base link.

  In many embodiments, rotation of the main shaft causes only a relatively small amount of rotation of the first end effector drive shaft relative to the main shaft. For example, in many embodiments, rotation of the main shaft causes rotation of the first end effector drive shaft less than 10 percent of rotation of the main shaft. And in many embodiments, the induced rotation of the first end effector drive shaft is less than 5 percent of the rotation of the main shaft.

  In many embodiments, the surgical assembly is drivably coupled to the end effector and includes a second end effector drive shaft included in the main shaft assembly; a second input drive that transmits a second input torque. A second input link rotatably coupled to the second input drive shaft, a second output link rotatably coupled to the second end effector drive shaft, and a second base link A second transmission. The second transmission device has a third gear between the second input link and the second output link so as to transmit the second output torque to the main shaft assembly in response to the second input torque. Provides a ratio. The second end effector torque is transmitted to the end effector by the second end effector drive shaft in response to the second output torque. The second base link transmits the second reaction torque, which is opposite to the direction from the second output torque, to the main shaft in response to the second input torque. A gear ratio of 4 is rotatably connected to the main shaft. The second reaction torque suppresses the rotational drive of the main shaft assembly by the second output torque. The second output link may be coupled to the second end effector drive shaft via a rotary coupling that provides a non-single gear ratio. The surgical assembly may then include a common drive shaft through which the first and second base links are rotatably connected to the main shaft.

  In many embodiments, the magnitude of the second reaction torque is at least approximately equal to the magnitude of the second output torque. Preferably, the magnitude of the second reaction torque is within 10 percent of the magnitude of the second output torque. Ideally, the magnitude of the second reaction torque is within 2 percent of the magnitude of the second output torque.

  In many embodiments, the main shaft assembly is configured such that when the main shaft is exposed to a net torque that exceeds a back driving torque threshold, the main shaft back drives the main shaft drive and the main shaft has a net torque that is less than the back driving torque threshold. Has a back driving torque threshold that does not back drive the main shaft drive when exposed to The magnitude of the second reaction torque may differ from the magnitude of the second output torque by a second net torque that is less than the back driving torque threshold. Preferably, the magnitude of the second net torque is less than 50 percent of the back driving torque threshold. More preferably, the magnitude of the second net torque is less than 25 percent of the back driving torque threshold. Ideally, the magnitude of the second net torque is less than 10% of the back driving torque threshold.

  In many embodiments, the second transmission includes a second planetary gearbox having a second sun gear, a second ring gear, and a second planetary gear supported on a second carrier. In many embodiments, the second sun gear corresponds to the second input link, the second carrier corresponds to the second output link, and the second ring gear corresponds to the second base link. In many embodiments, the second carrier corresponds to the second input link, the second sun gear corresponds to the second output link, and the second ring gear corresponds to the second base link. In many embodiments, the second sun gear or the second carrier corresponds to the second base link.

  In another aspect, a method is provided for preventing actuation torque transmitted to an end effector during surgery from back driving a main shaft that can be back driven. The method includes rotating a first input link of a first transmission that provides a first gear ratio between the first input link and the first output link of the first transmission. The first output link includes a main shaft and an end effector supported by the main shaft and rotatably connected to a main shaft assembly rotatably mounted on the base. The first output torque is transmitted to the main shaft assembly by the first output link, and the first end effector torque is transmitted to the end effector according to the first output torque. The first output torque is greater than a back driving torque threshold of the main shaft assembly. The method further includes transmitting torque from the first base link of the first transmission through a first rotational coupling between the first base link and the main shaft. The first rotary coupling has a second gear between the first base link and the main shaft so that a first reaction torque is applied to the main shaft that is opposite to the direction from the first output torque. Provides a ratio. The first reaction torque suppresses the rotational drive of the main shaft assembly by the first output torque.

  The magnitude of the first reaction torque may differ from the magnitude of the first output torque by a first net torque that is less than the back driving torque threshold. Preferably, the magnitude of the first net torque is less than 50 percent of the back driving torque threshold. More preferably, the magnitude of the first net torque is less than 25 percent of the back driving torque threshold. Ideally, the magnitude of the first net torque is less than 10% of the back driving torque threshold.

  In many embodiments, the magnitude of the first reaction torque is at least approximately equal to the magnitude of the first output torque. Preferably, the magnitude of the first reaction torque is within 10 percent of the magnitude of the first output torque. Ideally, the magnitude of the first reaction torque is within 2 percent of the magnitude of the first output torque.

  In many embodiments, the first end effector drive shaft transmits the first end effector torque to the end effector, and the rotation of the main shaft is only a relatively small amount of rotation of the first end effector drive shaft. cause. For example, in many embodiments, rotation of the main shaft causes rotation of the first end effector drive shaft less than 10 percent of rotation of the main shaft. And in many embodiments, the induced rotation of the first end effector drive shaft is less than 5 percent of the rotation of the main shaft.

  In many embodiments, the method includes a second input link of the second transmission that provides a third gear ratio between the second input link and the second output link of the second transmission. Further comprising rotating. In the second output link, the second output torque is transmitted to the main shaft assembly by the second output link, and the second end effector torque is transmitted to the end effector according to the second output torque. As described above, the main shaft assembly is rotatably connected. The second output torque is greater than the back driving torque threshold. In many embodiments, the method further includes transmitting torque from the second base link of the second transmission through a second rotational coupling between the second base link and the main shaft. The second rotary coupling has a fourth gear between the second base link and the main shaft so that a second reaction torque opposite to the direction from the second output torque is applied to the main shaft. Provides a ratio. The second reaction torque suppresses the rotational drive of the main shaft assembly by the second output torque. And in many embodiments, the first and second rotary couplings share a common drive shaft.

  For a more complete understanding of the nature and advantages of the present invention, reference should be made to the following detailed description and accompanying drawings. Other aspects, objects, and advantages of the present invention will become apparent from the following drawings and detailed description.

FIG. 1 is a plan view of a minimally invasive robotic surgical system being used to perform a surgery, according to many embodiments. FIG. 2 is a perspective view of a surgeon's control console for a robotic surgical system, according to many embodiments. FIG. 3 is a perspective view of an electronic device cart of a robotic surgical system, according to many embodiments. FIG. 4 schematically illustrates a robotic surgical system, according to many embodiments. FIG. 5A is a front view of a patient-side cart (surgical robot) of a robotic surgical system, according to many embodiments. FIG. 5B is a front view of the robotic surgical tool. FIG. 6A is a perspective view of a robotic surgical tool including an end effector having opposing clamp jaws, according to many embodiments. 6B is an enlarged perspective view of the end effector of FIG. 6A. FIG. 7 is an exploded perspective view of the end effector of FIG. 6A showing the mechanism used to convert the rotational movement of the drive shaft into articulating movement of the opposing clamp jaws. FIG. 8A is a perspective view of an end effector having a mechanism used to convert rotational movement of opposing clamp jaws and drive shafts into articulation of opposing clamp jaws, in accordance with many embodiments. FIG. 8B is a perspective view of an end effector having a mechanism used to convert rotational movement of opposing clamp jaws and drive shafts into articulation of opposing clamp jaws, in accordance with many embodiments. FIG. 9 is a simplified perspective view showing a drive shaft coupled to an end effector actuation mechanism supported at the distal end of a rotatable instrument shaft, according to many embodiments. FIG. 10 is a schematic illustrating the use of a differential to combine a first input motion and rotation of the instrument shaft to generate an output motion that is used to actuate an end effector mechanism, according to many embodiments. FIG. FIG. 11A is a simplified plan view illustrating a cable mounted differential used to decouple instrument shaft roll and end effector actuation in a surgical instrument, in accordance with many embodiments. FIG. 11B is a simplified side view showing the cable mounted differential of 11A. FIG. 12 is a perspective view of a proximal chassis of a surgical instrument having a cable driven differential used to decouple the instrument shaft roll and end effector actuation in the surgical instrument in accordance with many embodiments. FIG. 13 is a perspective view illustrating a proximal chassis of a surgical instrument having a planetary gearbox used to decouple the instrument shaft roll and end effector actuation in the surgical instrument, in accordance with many embodiments. 14 is a plan view showing a proximal chassis of the surgical instrument of FIG. FIG. 15 is a side view showing the proximal chassis of the surgical instrument of FIG. FIG. 16 is a partial exploded perspective view showing a planetary gearbox coupled to an input coupler of a surgical instrument according to many embodiments. FIG. 17 is an exploded perspective view of the planetary gearbox and input coupler of FIG. FIG. 18 illustrates the operation of a method for decoupling a roll of a surgical instrument shaft from rotation of a drive shaft drivably coupled to an end effector mechanism supported by the surgical instrument shaft, according to many embodiments. FIG. 19 illustrates operations relating to a cable-driven differential that can be used to implement the method of FIG. 18, in accordance with many embodiments. FIG. 20 illustrates operation for another cable-driven differential that can be used to implement the method of FIG. 18, in accordance with many embodiments. FIG. 21 illustrates operations relating to a differential gear assembly that can be used to implement the method of FIG. 18, in accordance with many embodiments. FIG. 22 schematically illustrates a robot assembly having two offset drive shafts in a rotatable main shaft, according to many embodiments. FIG. 23 schematically illustrates the integration of the controller and the components of the robot assembly of FIG. 22 according to many embodiments. FIG. 24 schematically illustrates a robot tool and associated robotic system, according to many embodiments. FIG. 25 schematically illustrates a surgical assembly in which a drive motor is coupled to an end effector and a main shaft that supports the end effector to avoid unintentional rotation of the main shaft, according to many embodiments. FIG. 26 is a perspective view of a planetary gear assembly, according to many embodiments. FIG. 27a illustrates an independently rotatable main shaft and each internal drive shaft to avoid unintentional rotation of the main shaft due to operating torque transmitted to the end effector by the drive shaft, according to many embodiments. 1 is a perspective view of a minimally invasive surgical instrument assembly including a drive motor coupled thereto. FIG. FIG. 27b is an exploded perspective view of the instrument assembly of FIG. 27a showing the motor pack and the drive coupling coupling the motor pack drive motor to the main shaft and respective internal drive shafts. 28a is a perspective view of the internal components of the instrument assembly of FIG. 27a showing the drive motor and the components used to rotatably connect the drive motor to the main shaft and respective internal drive shafts. 28b is an exploded perspective view showing the internal components of FIG. 28a in a disconnected state corresponding to FIG. 27b. FIG. 29a is a perspective view showing the internal components of FIG. 27a associated with the connection of one of the drive motors to the main shaft and the respective internal drive shaft. FIG. 29b is an end view of the internal components of FIG. 29a. FIG. 29c shows an AA cross-sectional view of FIG. 29b. 30 is a perspective view of the internal components of the instrument assembly of FIG. 27a showing the gears used to rotatably connect the drive motor, gear box, and drive motor to the respective internal drive shaft and main shaft. is there. FIG. 31 is a flow chart of a method for preventing an actuation torque transmitted to an end effector from rotationally driving a backdriveable main shaft during surgery, according to many embodiments.

  In the following description, various embodiments of the invention will be described. For purposes of explanation, specific forms and details are set forth in order to provide a thorough understanding of the embodiments. However, it will also be apparent to one skilled in the art that the present invention may be practiced without the specific details. Furthermore, well-known features may be omitted or simplified in order not to obscure the described embodiments.

(Minimally invasive robotic surgery)
Referring now to the drawings, FIG. 1 is a plan view of a minimally invasive robotic surgery (MIRS) system 10 typically used for performing minimally invasive diagnosis or surgery on a patient 12 lying on an operating table 14. It is. In the drawings, like reference numerals designate like parts. The system includes a surgeon console 16 for use by the surgeon 18 during surgery. One or more assistants 20 may also participate in the surgery. The MIRS system 10 may further include a patient side cart 22 (surgical robot) and an electronic device cart 24. The patient-side cart 22 has at least one releasably connected tool assembly 26 (hereinafter simply referred to as passing through a minimally invasive incision in the patient 12 body while the surgeon 18 is viewing the surgical site through the console 16. Can be manipulated (called "tools"). An image of the surgical site can be acquired by an endoscope 28, such as a stereoscopic endoscope, that can be manipulated by the patient cart 22 to orient the endoscope 28 in the correct direction. The electronics cart 24 can be used to process an image of the surgical site for subsequent display to the surgeon 18 through the surgeon console 16. The number of surgical tools 26 used at one time generally depends on spatial constraints within the operating room, among other diagnostic or surgical procedures and other factors. If it is necessary to replace one or more tools 26 being used during the procedure, the assistant 20 removes the tool 26 from the patient side cart 22 and replaces it with another tool 26 from the operating room tray 30. Can be replaced.

  FIG. 2 is a perspective view of the surgeon console 16. The surgeon console 16 includes a left eye display 32 and a right eye display 34 for presenting the surgeon 18 with a coordinated stereoscopic image of the surgical site that allows depth recognition. The console 16 further includes one or more input control devices 36 that in turn cause the patient-side cart 22 (shown in FIG. 1) to operate one or more tools. The input control device 36 may be associated with a tool to provide the surgeon with a telepresence or recognition that the control device 36 is integral with the tool 26 so that the surgeon has a strong sense of controlling the tool 26 directly. The same degrees of freedom as 26 (shown in FIG. 1) can be provided. To achieve this goal, position, force, and tactile feedback sensors (not shown) are used to return position, force, and tactile sensation from tool 26 to the surgeon's hand via input control device 36. Can be.

  The surgeon console 16 is typically in the same room as the patient so that the surgeon can directly monitor the surgery, be physically present if necessary, and talk directly to the assistant rather than a telephone or other communication medium. Is placed inside. However, the surgeon can be in a different room than the patient, in a completely different building, or elsewhere away from the patient that allows telesurgery.

  FIG. 3 is a perspective view of the electronic device cart 24. The electronic device cart 24 can be coupled to the endoscope 28 for subsequent display to the surgeon or the like on a surgeon console or on another suitable display located locally and / or remotely. A processor for processing the captured image may be included. For example, if a stereoscopic endoscope is used, the electronic device cart 24 may process the captured image to present a coordinated stereoscopic image of the surgical site to the surgeon. Such coordination may include alignment between opposing images and may include adjusting the stereoscopic working distance of the stereoscopic endoscope. As another example, image processing may include the use of previously determined camera calibration parameters to compensate for imaging errors in the image capture device, such as optical aberrations.

  FIG. 4 schematically shows a robotic surgical system 50 (such as the MIRS system 10 of FIG. 1). As described above, the surgeon console 52 (such as the surgeon console 16 of FIG. 1) is used by the surgeon to control the patient side cart (surgical robot) 54 (such as the patient side cart 22 of FIG. 1) during minimally invasive surgery. Can be used by. The patient-side cart 54 uses an imaging device such as a stereoscopic endoscope to capture an image of the surgical site and output the captured image to an electronic device cart 56 (such as the electronic device cart 24 in FIG. 1). be able to. As described above, the electronic device cart 56 can process images captured in various ways before subsequent display. For example, the electronics cart 56 can superimpose the captured image with the virtual control interface before displaying the combined image to the surgeon via the surgeon console 52. The patient side cart 54 can output captured images for processing outside the electronic device cart 56. For example, the patient-side cart 54 can output the captured image to the processor 58 that can be used to process the captured image. The images can also be processed by a combination of an electronic device cart 56 and a processor 58 that can be coupled together to process the captured images, jointly, sequentially, and / or combinations thereof. it can. One or more separate displays 60 may also be coupled with the processor 58 and / or the electronics cart 56 for local and / or remote display of images, such as images of surgical sites or other related images.

5A and 5B show the patient side cart 22 and the surgical tool 62, respectively. The surgical tool 62 is an example of the surgical tool 26. The illustrated patient-side cart 22 provides operation of three surgical tools 26 and an imaging device 28 such as a stereoscopic endoscope used to capture images of the surgical site. The operation is provided by a robot mechanism having several robot joints. The imaging device 28 and the surgical tool 26 can be positioned and manipulated through the patient's incision so that the kinematic remote center is retained at the incision to minimize the size of the incision. The image of the surgical site may include an image of the distal end of the surgical tool 26 when the distal end of the surgical tool 26 is positioned within the field of view of the imaging device 28.
(Tissue grasping end effector)
FIG. 6A shows a surgical instrument 70 that includes a proximal chassis 72, an instrument shaft 74, and a distal end effector 76 having a jaw 78 that can be articulated to grasp patient tissue. The proximal chassis includes an input coupler configured to interface with and be driven by the output coupler of the patient cart 22. The input coupler is drivably coupled to the input link of the spring assembly 80. The spring assembly 80 is attached to the frame 82 of the proximal chassis 72 and includes an output link that is drivably coupled to a drive shaft disposed within the instrument shaft 74. The drive shaft is drivably coupled to the jaw portion 78. FIG. 6B provides an enlarged view of the jaw 78 of the end effector 76.

  FIG. 7 is an exploded perspective view of the end effector 76 of FIG. 6A showing a clamping mechanism used to convert the rotational motion of the drive shaft 84 into articulation of opposing clamp jaws of the end effector 76. The end effector is drivably connected to the drive shaft 84 and the upper jaw portion 86, the lower jaw portion 88, the frame 90, the pin 92 for swingably attaching the upper jaw portion 86 and the lower jaw portion 88 to the frame 90, and the drive shaft 84. A feed screw mechanism 94. The lead screw mechanism 94 includes a lead screw 96 and a mating translation nut 98 that is advanced or retracted along the slot 100 of the frame 90 via rotation of the lead screw 96. Translation nut 98 includes a reversely extending protrusion that connects with slot 102 of upper jaw 86 and slot 104 of lower jaw 88 so that when translation nut 98 is advanced or retracted along slot 100, This causes joint movement around the pin 92 of the jaw part 86 and the lower jaw part 88.

  8A and 8B illustrate the operation of a clamping mechanism similar to the clamping mechanism of FIG. Rotation of the drive shaft 84 in the illustrated direction causes the translation nut 98 to move distally toward the pivot pin 92 where the lower jaw 88 and the upper jaw 86 are pivotally attached to the end effector frame 90. Advance. As shown in FIG. 8B, the protrusion of the translation nut 98 engages the slot 102 of the upper jaw 86. The distal advancement of the translation nut 98 toward the pivot pin 92 causes the upper jaw to rotate in the direction shown and the lower jaw 88 to rotate in the opposite direction, thus opening the jaw. Similarly, proximal advancement of the translation nut 98 away from the pivot pin 92 causes the jaws to close. Thus, the jaws can be articulated to grasp the patient's tissue.

  The lead screw type clamping mechanism shown in FIGS. 7, 8A, and 8B provides substantial mechanical advantages that translate a relatively low torque transmitted by the drive shaft into a relatively high clamping force. In order to avoid exposing the tissue to excessive clamping forces via a mechanism having such significant mechanical advantages, the torque transmitted to the clamping mechanism by the drive shaft can be controlled.

(Alternative end effector mechanism)
The drive shaft 84 can be used to actuate any suitable end effector mechanism. For example, the drive shaft 84 can be used to actuate a mechanism, such as a tissue anastomosis mechanism, a tissue cutting mechanism, and any general suitable end effector mechanism that can be actuated by rotational input.

(Separation of instrument shaft roll and end effector operation)
FIG. 9 provides a suitable starting point for discussing the separation of instrument shaft roll and end effector actuation in a surgical instrument. FIG. 9 shows an end effector 110 that includes an articulated jaw 112 that is operable to grasp an item (eg, patient tissue, suture needle, etc.). The end effector 110 includes an actuation mechanism for actuating the mechanism of the end effector 110, such as a jaw 112 that is articulated. The actuation mechanism is drivably coupled to the drive shaft 114. End effector 110 is supported at the distal end of instrument shaft 116. The instrument shaft 116 is rotatable over a range of rotation relative to the proximal chassis base that supports the instrument shaft 116. Similarly, the drive shaft 114 is rotatable over a range of rotation relative to the proximal chassis base.

  If the drive shaft 114 is independent of any connection with the rotation of the drive shaft 116, a portion of the range of rotation of the drive shaft 114 relative to the proximal chassis base that can be used to actuate the end effector jaw 112 is Reduced by the extent of rotation of the drive shaft 116 relative to the proximal chassis base. For example, if the range of rotation of the instrument shaft 116 relative to the base is equal to 2 rotations and the range of rotation of the drive shaft 114 relative to the base is equal to 10 rotations, the range of rotation of the net of the drive shaft 114 relative to the end effector 110 is 8 rotations. equal. In other words, these two independent two rotations, when combined, produce a zero net rotation of the drive shaft 114 relative to the actuation mechanism of the end effector 110, so that two rotations of the drive shaft 114 relative to the base are instrumental with respect to the base. It is effectively canceled out by two rotations of the shaft 116.

  FIG. 10 schematically illustrates the use of differential 118 to combine first input motion 120 and instrument shaft rotation 122 to generate an output motion 124 for driving an end effector actuation mechanism. The differential 118 is described above for the rotation of the instrument shaft when producing a difference between the amount of rotation of the drive shaft 114 relative to the proximal chassis base and the corresponding amount of rotation of the drive shaft 114 relative to the end effector actuation mechanism. It can be configured to counteract the effects. For example, the differential 118 generates a clockwise two-turn first input motion 120 relative to the proximal chassis base to produce a clockwise three-turn output motion 124 relative to the proximal chassis base. It can be configured to combine with a clockwise one-turn instrument shaft movement 122, effectively providing two clockwise output movements for the end effector. Such a differential also functions to counter the aforementioned effects of instrument shaft rotation when the drive shaft 114 and instrument shaft 116 rotate in opposite directions. For example, using such a differential configuration, two clockwise rotations of the first input motion 120 relative to the proximal chassis base may be combined with one counterclockwise rotation of the instrument shaft 122 relative to the base. It produces one clockwise rotation of the output motion 124, effectively creating two clockwise output motions of the output motion for the end effector.

  The differential substantially cancels all of the effects of instrument shaft rotation described above that create a difference between the amount of drive shaft relative to the proximal chassis base and the corresponding amount of drive shaft rotation relative to the end effector actuation mechanism. While preferably configured as such, the differential may also be configured to counteract the effects of instrument shaft rotation to any suitable degree. For example, the differential can counteract above, counteract above, and even expand the effects of instrument shaft rotation as described above, as appropriate to achieve the desired operating characteristics of the surgical instrument. Can be configured to.

  The differential can be implemented in any suitable manner. For example, the differential can be implemented using cables and pulleys. As another example, the differential can be implemented using a transmission, such as a planetary gearbox assembly.

(Cable mounting differential)
FIG. 11A illustrates a cable-mounted differential 130 that is used to decouple the instrument shaft roll and end effector operation in a robotic surgical instrument, according to many embodiments. The differential 130 rotates to a roll pulley 132 that is rotatably coupled to the rotation of the instrument shaft relative to the proximal chassis base, an end effector actuation pulley 134 that is rotatably coupled to an actuation source, and an end effector jaw actuating mechanism. A lead screw drive pulley 136 is operatively coupled. A first cable 138 that spans both the roll pulley 132 and the feed screw drive pulley 136 provides rotation of the feed screw drive pulley 136 in response to rotation of the roll pool 132. The second cable 140 that is engaged with the end effector operating pulley 134 is connected to the first pulley block 142 and the second pulley block 144. The first pulley block 142 includes a first movable pulley 146. The second pulley block 144 includes a second movable pulley 148. The first and second movable pulleys 146 and 148 are hooked by the first cable 138.

  Between the roll pulley 132 and the feed screw drive pulley 136, the first cable 138 is hooked on the four fixed guide pulleys. These fixed guide pulleys include a first guide pulley 150, a second guide pulley 152, a third guide pulley 154, and a fourth guide pulley 156.

  FIG. 11B is a side view of the cable-mounted differential device 130. The roll pulley 132 is rotatably connected to the rotation of the instrument shaft through the helical gear 158. The roll pulley 132 and the helical gear 158 rotate around the rotation shaft 160. The instrument shaft rotates about an axis of rotation that is oriented perpendicular to the axis of rotation 160 of the helical gear. A meshing helical gear mounted for rotation with the helical gear 158 and the instrument shaft transmits the rotation of the instrument shaft to the rotation of the roll pulley 132.

  Four fixed guide pulleys 150, 152, 154, 156 serve to constrain the position of the first cable 138 horizontally and vertically. The first and third guide pulleys 150, 154 are disposed between the second and fourth guide pulleys 152, 156 to provide a vertical separation between the overlapping portions of the first cable 138. . The first and third guide pools 150, 154 also provide a 180 degree hook between the first movable pulley 146 and the first cable 138 over the range of travel of the first movable pulley 146. Placed horizontally. Similarly, the second and fourth guide pulleys 152, 156 also provide a 180 degree hook between the second movable pulley 148 and the first cable 138 over the range of travel of the second movable pulley 148. So that they are arranged horizontally.

  The cable mounted differential 130 combines the movement of the roll pulley 132 and the movement of the end effector actuating pulley 134 to cause movement of the lead screw drive pulley 136. For example, in the absence of any rotation of the end effector actuation pulley 134, rotation of the roll pulley 132 causes a corresponding rotation of the feed screw drive pulley 136 so that the net of the feed screw drive pulley 136 relative to the end effector jaw actuation mechanism. Does not cause rotation. In the absence of any rotation of the roll pulley 132, the rotation of the end effector actuating pulley 134 causes a corresponding movement of the first and second movable pulleys 146, 148, resulting in a rotation of the net of the lead screw drive pulley 136. Let And for simultaneous rotation of both roll pulley 132 and end effector actuation pulley 134, the corresponding movement of first cable 138 and second cable 140 is a combination of rotation of roll pulley 132 and end effector actuation pulley 134. This causes rotation of the lead screw drive pulley 136.

  FIG. 12 is a perspective view of a proximal chassis of a robotic surgical instrument having a cable-mounted differential 170 according to many embodiments. The cable mounted differential 170 is configured similarly to the cable mounted differential 130, but in order to constrain the first cable 184 horizontally and vertically, six fixed guide pulleys 172, 174, 176, 178, 180, 182 included.

Any suitable cable mounted differential can be used. For example, in a variation of cable mounted differential 130, first cable 138 is driven by end effector actuating pulley 134 and second cable 140 is driven by roll pulley 132.
(Gear mounted differential)
FIG. 13 is a perspective view of a proximal chassis 190 of a robotic surgical instrument including a gear mounted differential 192 according to many embodiments. Gear mounted differential 192 includes a planetary gear assembly including a sun gear, a planetary gear coupled to a carrier, and a ring gear. The carrier is rotatably connected with the input coupler of the proximal chassis through the input shaft. The input shaft is aligned with the input coupler and is orthogonal to the instrument shaft. The sun gear is rotatably connected to the rotation of the instrument shaft 116 through the helical gears 194 and 196. The rotation of the carrier and sun gear results in the rotation of the ring gear. The ring gear is rotatably connected to the end effector actuation mechanism through a helical gear 198, 200, an output shaft 202, and a drive shaft that is threaded through the instrument shaft 116. FIG. 14 shows a plan view of the proximal chassis 190 and the gear mounted differential 192. FIG. 15 shows a side view of the proximal chassis 190 and the gear mounted differential 192.

  16 and 17 are exploded views illustrating details of the gear mounted differential 210 according to many embodiments. The gear mounted differential 210 includes a planetary gearbox assembly 212. FIG. 16 shows the gear mounted differential 210 and the attached input shaft and input coupler 214 moved laterally from where they are installed in the proximal chassis of a robotic surgical instrument having an input shaft 116. The installation center line 218 and the center axis 220 of the gear mounting differential device 210 indicate an offset from the installation position.

  FIG. 17 is an exploded perspective view of the gear-mounted differential device 210, the input shaft, and the input coupler 214. Differential device 210 includes a carrier 222 coupled to planet gear 224, a sun gear 226 that is rotationally driven by input gear 228, a ring gear member 230 having an internal ring gear and an external helical output gear 232. The carrier 222 is rotatably connected to the input shaft 234 and driven by the input shaft 234, and the input shaft 234 is rotatably connected to the input coupler 214 and driven by the input coupler 214. When the proximal chassis 216 is attached to the robot arm, the input coupler 214 is connected to the corresponding output coupler of the robot arm of the surgical robot and is rotationally driven by the output coupler. The rotation of the carrier 222 causes a rotation of the center line of the planetary gear 224 around the center axis 220. The input gear 228 is rotationally coupled to the rotation of the input shaft 116. The combined rotation of the sun gear 226 and planet gear 224 centerlines about the central axis 220 results in a corresponding rotation of the ring gear member 230 about the central axis 220. Ring gear member 230 is drivingly connected to the end effector operating mechanism through external helical output gear 232.

  The gear mounted differential 210 includes a torsion spring 236 coupled between the carrier 222 and the proximal chassis 216. The torsion spring returns the carrier to the predetermined position after the separation between the operating source of the robot arm and the carrier, so that the end effector operating mechanism is returned to the predetermined arrangement.

In operation, the gear mounted differential device 210 operates in the same manner as the differential device 118 described above. Through known approaches, additional transmissions can be used to offset the difference in direction and rotational speed between the instrument shaft 116 and the external helical output gear 232.
(Example planetary gearbox parameters)
The following equation provides the relationship between the rotation of sun gear 226, carrier 222, and ring gear member 230.

(2 + n) ω _a + nω _s −2 (1 + n) ω _C = 0 (1)
Where n = N _s / N _p (shape factor for planetary gearbox)
N _s = number of teeth of the sun gear N _P = number of teeth of the planetary gear ω _a = angular velocity of the ring gear member (also known as “ring”) ω _S = angular velocity of the sun gear ω _C = angular velocity of the carrier.

  As shown in Expression (1), the angular speed of the ring gear member 230 is a linear combination of the angular speed of the sun gear 226 and the angular speed of the carrier 222. Therefore, in the gear mounted differential device 210 (the sun gear 226 is rotationally driven by the rotation of the instrument shaft 116, the carrier 222 is rotationally driven by the input coupler 214, and the ring gear member 230 is rotationally connected to the end effector operating mechanism) The rotation of the shaft 116 results in a corresponding additional rotation of the ring gear member 230, thus decoupling the rotation of the instrument shaft from the operation of the end effector actuation mechanism.

  The following parameters provide an exemplary configuration of the planetary gearbox of the gear mounted differential 210.

N _s = 24 N _P = 12 n = N _s / N _P = 2
N _a = N _s + 2N _P = 48 Number of teeth of ring gear DP = 64 Number of teeth of gear / pitch circle diameter (tooth / inch)
PD _s = N _s /DP=0.375 inch -Pitch circle diameter of sun gear PD _P = N _P /DP=0.875 inch -Pitch circle diameter of planetary gear PD _a = N _a /DP=0.75 inch- Pitch circle diameter of ring gear member ring gear

  For zero carrier angular velocity (corresponding to no rotation input through the input coupler 214), equation (1) is changed as follows:

(2 + n) ω _a + nω _s = 0 in equation (1) ω _C = 0
For the exemplary planetary gearbox parameters described above, n = 2,
The following relationship is created between the angular velocity (ω _a ) of the ring gear member and the angular velocity (ω _S ) of the sun gear.

サンギヤ２２６とリングギヤ部材２３０との間の回転方向の差を相殺するために及びエンドエフェクタ作動機構に回転連結された駆動シャフトの回転の器具シャフト１１６のものと等しい回転量を実現するために、既知のアプローチを使用する追加的な伝動装置が、器具シャフト１１６とサンギヤ２２６との間に、及び／又はリングギヤ部材２３０とエンドエフェクタ作動機構に回転連結された駆動シャフトとの間に使用され得る。

In order to offset the rotational direction difference between the sun gear 226 and the ring gear member 230 and to achieve an amount of rotation equal to that of the instrument shaft 116 of rotation of the drive shaft rotationally coupled to the end effector actuation mechanism. Additional transmissions using this approach may be used between the instrument shaft 116 and the sun gear 226 and / or between the ring gear member 230 and the drive shaft that is rotationally coupled to the end effector actuation mechanism.

(Application to surgical assembly)
The surgical assembly disclosed herein can be used for any suitable application. For example, the surgical assemblies disclosed herein may be other surgical instruments, manual or powered, portable or robotic, directly controlled or remotely operated, open or minimally invasive (single Can be used for one or more ports) surgery. Examples of such instruments include those having distal components that receive torque actuation inputs (eg, for grip control functions, component orientation control functions, component positioning functions, etc.). Non-limiting examples of illustrations include remotely operated or portable instruments including anastomosis, cutting, tissue melting, imaging device orientation and position control, high force grip, biopsy, end effector and orientation control. Including.

(Method of separating the roll of the instrument shaft and the end effector)
FIG. 18 illustrates the operation of a method 250 for decoupling the rotation of the instrument shaft from the rotation of the drive shaft that is drivingly connected to the end effector mechanism supported by the surgical instrument shaft, in accordance with many embodiments. Method 250 uses any suitable differential device, such as any of differential device 118, cable mounted differential device 130, cable mounted differential device 170, and gear mounted differential device 192 described above, for example, Can be implemented. Method 250 generates a first input motion associated with a desired end effector arrangement (operation 252), a surgical operation extending between a proximal end adjacent the base and a distal end supporting the end effector. Rotating the instrument shaft relative to the base (operation 254), generating a second input motion in response to rotation of the instrument shaft relative to the base (operation 256), first and second to generate an output motion; Coupling (258) the input motion of the drive shaft and rotating the drive shaft in response to the output motion (operation 260). In many embodiments, the first and second input motions are combined such that substantially no rotation of the drive shaft relative to the surgical instrument occurs when the first input motion is zero.

  FIG. 19 illustrates operations that may be used to implement the method 250 by using a cable mounted differential, such as any of those described herein. The operation includes moving the first cable in response to rotation of the surgical instrument shaft relative to the base (operation 262), moving the second cable (operation 264), and the first pulley in response to movement of the second cable. Moving the second pulley (operation 266), hooking the first cable over each of the first and second pulleys (operation 268), and rotating the drive shaft in response to the movement of the first cable. Step (operation 270). In many embodiments, the first cable is hung on the first and second pulleys over the approximately 180 degree fan of each pulley.

  FIG. 20 illustrates operations that may be used to implement the method 250 by using a cable mounted differential, such as any of those described herein. Operation includes moving the first cable (operation 272), moving the second cable in response to rotation of the surgical instrument shaft relative to the base (operation 274), and first pulley in response to movement of the second cable. Moving the second pulley (operation 276), hooking the first cable onto each of the first and second pulleys (operation 278), and rotating the drive shaft in response to the movement of the first cable. Step (operation 280). In many embodiments, the first cable is hung on the first and second pulleys over the approximately 180 degree fan of each pulley.

  FIG. 21 illustrates operations that may be used to implement the method 250 by using a gear mounted differential, such as any of those described herein. In operation, rotating the first input link of the differential gear assembly in response to the first input motion (operation 282), second input link of the differential gear assembly in response to the second input motion. Rotating (operation 284) and rotating the drive shaft in response to rotation of the output link of the differential gear assembly (operation 286).

(Applying method)
The surgical assembly disclosed herein can be used for any suitable application. For example, the surgical assemblies disclosed herein may be other surgical instruments, manual or powered, portable or robotic, directly controlled or remotely operated, open or minimally invasive (single Can be used for one or more ports) surgery. Examples of such instruments include those having distal components that receive torque actuation inputs (eg, for grip control functions, component orientation control functions, component positioning functions, etc.). Non-limiting examples of illustrations include remotely operated or portable instruments including anastomosis, cutting, tissue melting, imaging device orientation and position control, high force grip, biopsy, end effector and orientation control. Including.

(Drive shaft in rotatable shaft)
FIG. 22 schematically shows a robot assembly 370 having two offset drive shafts in a rotatable main shaft. The robot assembly 370 includes an end effector 372 coupled to the distal end of the rotatable main shaft 374 and an actuation assembly 376 coupled to both the main shaft 74 and the end effector 372.

  The end effector 372 includes an end effector base, a first actuation mechanism 378, a second actuation mechanism 380, and a control cable mechanism 382. The end effector base is pivotally connected to a rotatable main shaft 374. The first actuation mechanism 378 and the second actuation mechanism 380 are shaft driven and may have various end effector features and / or devices such as a clamping function, a movable cutting function, a cutting and anastomosis function, or a shaft drive. Other suitable end effector functions and / or devices that can be actuated and / or articulated with a mold mechanism can be used to actuate and / or articulate. The control cable mechanism 382 is also a variety of end effector functions and / or devices, particularly those where rapid response is desired, such as gripping functions, end effectors used to articulate the end effector base relative to the main shaft. Another suitable function and / or device that can be actuated and / or articulated via a main shaft to the base list or one or more control cables may be used to actuate and / or articulate. it can.

  The end effector base is coupled to the rotatable main shaft 374 such that rotation of the main shaft 374 about the main shaft rotation axis causes a corresponding rotation of the end effector base. As described above, the ability to rotate the main shaft 374 independently provides increased end effector operability relative to the non-rotating main shaft, which can be used during certain procedures, such as certain minimally invasive procedures. Can be beneficial. The end effector base can also be coupled to the rotatable main shaft 374 using a suitable wrist mechanism 384 that provides additional end effector operability.

  Two drive shafts are used to drive the end effector shaft driven actuation mechanism. The first drive shaft 386 is mounted for rotation about the first drive shaft rotation axis that is offset from the main shaft rotation axis. The first drive shaft 386 is operably connected to the first actuation mechanism 378. Similarly, the second drive shaft 388 is mounted for rotation about a second drive shaft rotation axis that is offset from the main shaft rotation axis. The second drive shaft 388 is operably connected to the second actuation mechanism 380.

  Actuating assembly 376 is coupled to a rotatable main shaft 374, a first drive shaft 386, a second drive shaft 388, and a control cable 382. A rotatable main shaft 374 is mounted for rotation relative to the base of the actuation assembly 376. Actuating assembly 376 is operable to cause rotation of rotatable main shaft 374 relative to the base. The actuation assembly 376 also rotates the rotatable main shaft 374 relative to the base, the first drive shaft 386 relative to the rotatable main shaft 374, and the second drive shaft 388 relative to the rotatable main shaft 374. Is operable to generate any combination of As such, the first actuation mechanism 378 and / or the second actuation mechanism 380 can be actuated independently and / or simultaneously with the rotation of the rotatable main shaft 374.

  The actuation assembly 376 rotates independently of the rotatable main shaft 374 with the first drive shaft 386 and the second drive shaft 388 even during rotation of the rotatable main shaft 374 relative to the base. Configured to provide the functionality described above. The actuating assembly 376 includes a main shaft motor 390 coupled to the main shaft encoder 392 and the main shaft interface 394, a first motor 396 coupled to the first encoder 398 and the first interface 400, and a second encoder 404. And a second motor 402 coupled to the second interface 406, and a control cable motor 408 coupled to the control cable encoder 410 and the control cable interface 412. The main shaft interface 394 is connected to the rotatable main shaft 374 so as to transmit the rotational motion from the main shaft motor 390 to the rotatable main shaft 374. The main shaft motor 390 can be fixedly coupled to the base such that the transmitted rotational motion results in rotation of the rotatable main shaft 374 relative to the base. Main shaft encoder 392 measures the orientation of main shaft motor 390, main shaft interface 394, and / or rotatable main shaft 374 and provides a controller (not shown in FIG. 22) to provide to the measured orientation controller. Can be linked. The first interface 400 is operable to transmit rotational motion from the first motor 396 to the first drive shaft 386 during any orientation and / or rotational motion of the rotatable main shaft 374. To the first drive shaft 386. The first encoder 398 is coupled to the controller to measure the orientation of the first motor 396, the first interface 400, and / or the first drive shaft 386 and to provide the measured orientation to the controller. obtain. The second interface 406 is operable to transmit rotational motion from the second motor 402 to the second drive shaft 388 during any orientation and / or rotational motion of the rotatable main shaft 374. As such, it is coupled to the second drive shaft 388. The second encoder 404 is coupled to the controller to measure the orientation of the second motor 402, the second interface 406, and / or the second drive shaft 388 and provide the measured orientation to the controller. obtain. The control cable interface 412 is coupled to a control cable 414 that is operatively coupled to the control cable mechanism 382. The control cable 414 is routed in the vicinity of the main shaft rotation axis to minimize changes in the length of the control cable due to, for example, rotation of the rotatable main shaft 374, and By being configured to withstand any torsion of the control cable and / or torsion between control cables that may result in several rotational orientations of the main shaft 374 (by having a configuration that resists rubbing) It can be routed to allow a rotational orientation range of the main shaft 374. The control cable encoder 410 may be coupled to the controller to measure the orientation of the control cable motor 408 and / or the control cable interface 412 and provide the measured orientation to the controller.

  FIG. 23 is a simplified block diagram illustrating the integration of components of a robot assembly 370 having a controller 416, according to many embodiments. Controller 416 includes at least one processor 418 that communicates with a number of peripheral devices via bus subsystem 420. These peripheral devices typically include a storage subsystem 422.

  Storage subsystem 422 maintains the basic programming and data structures that provide the functionality of controller 416. Software modules for implementing the functionality of the robot assembly described above are typically stored in the storage subsystem 422. Storage subsystem 422 typically includes a memory subsystem 424 and a file storage subsystem 426.

  The memory subsystem 424 typically includes a main random access memory (RAM) 428 for storing instructions and data during program execution and a read only memory (ROM) 430 for storing fixed instructions. Including memory.

  File storage subsystem 426 provides persistent (non-volatile) storage for program and data files and may include other non-volatile memory such as hard drives, disk drives, or flash memory. An input device, such as a disk drive, can be used to input the software module described above. Alternatively, other known configurations such as a USB port can be used to input the software module.

  In this context, the term “bus subsystem” is used generically to include any mechanism for causing the various components and subsystems to communicate with each other as intended. Although the bus subsystem 420 is shown schematically as a single bus, a typical system is a local bus and one or more expansion buses (eg, ADB, SCSI, ISA, EISA, MCA, NuBus, or PCI) and many other buses, as well as serial and parallel ports.

  Controller 416 receives various signals including signals from input control device 36 (shown in FIG. 2) and signals from main shaft encoder 392, first encoder 398, second encoder 404, and control cable encoder 410. In response to the signal, the components of the robot assembly 370 are controlled. Controlled components include a main shaft motor 390, a first motor 396, a second motor 402, and a control cable motor 408. Additional components (not shown) such as digital / analog converters can be used to interface the components with the controller 416.

FIG. 24 is a simplified block diagram illustrating the integration of a robotic surgical tool 432 in a robotic surgical system, according to many embodiments. Tool 432 includes a proximal tool chassis 434 configured to be releasably mountable on a manipulator 436 having a tool interface configured to interface with the proximal tool chassis 434. Tool 432 further includes an elongate main shaft 374 that is mounted to rotate relative to proximal tool chassis 434 when rotated by the main shaft motor, as described above. End effector 440 is coupled to the distal end of main shaft 374 to rotate with the main shaft. Main control system 442 is operably coupled to manipulator 436. Auxiliary control system 444 may also be operatively coupled to manipulator 436. The combination of the main control system 442 and the auxiliary control system 444 can be used to control all possible articulation of the tool 432 via the manipulator 436. For example, the auxiliary control system 444 may control the drive motor for rotation of the first drive shaft and rotation of the second drive shaft. The main control system 442 may control a drive motor for rotation of the main shaft and one or more control cable drive motors. Such an auxiliary controller can be used in existing robotic surgical system structures to allow the use of currently disclosed robotic tools having one or more offset drive shafts routed within an independently rotating main shaft. Can be used to complement.
(Connecting the drive motor to the end effector and the main shaft supporting the end effector to avoid rotation of the main shaft as intended)
FIG. 25 illustrates the drive motor used to operate the end effector rotation mechanism to avoid unintentional rotation of the main shaft / end effector assembly during operation of the end effector rotation mechanism, according to many embodiments. A diagrammatic representation of a surgical assembly 500 coupled to a shaft / end effector assembly is shown. The surgical assembly 500 includes a main shaft / end effector assembly 502 that is rotatably attached to a base (eg, the manipulator 436 shown in FIG. 24), and the main shaft / end effector assembly 502 is rotationally driven with respect to the base. A main shaft drive 504 that rotates and a reaction rotatably coupled to the main shaft / end effector assembly 502 to provide an operating torque to the end effector rotation mechanism and a canceling torque 507 to the main shaft / end effector assembly 502. An actuation assembly 506 is included.

  The main shaft / end effector assembly 502 includes a main shaft 508 that is rotatably attached to a base and is rotationally driven by a main shaft driving device 504, and an end effector 510 that is supported by the main shaft 508. The end effector 510 includes a first rotation mechanism 512 and a second rotation mechanism 514. The first and second rotation mechanisms 512, 514 can be used to articulate end effector components such as, for example, clamp jaws, anastomosis devices, cutting devices, and the like.

  Due to the dimensional constraints imposed on minimally invasive surgical tools, it is desirable to provide actuation torque to the first and second rotation mechanisms 512, 514 from a source outside the main shaft / end effector assembly 502. However, in such a configuration, the first and second rotation mechanisms 512, 514 are part of the end effector 510 supported by the main shaft / end effector assembly 502, so that the operating torque is from the outer source. When transmitted to the first and second rotating mechanisms 512, 514, some or all of the transmitted operating torque can be reduced by the main shaft 508. The operating torque reduced by the main shaft / end effector assembly 502 can also be reduced by the main shaft 508. As a result, the main shaft drive 504 may be capable of being back driven through a sufficient amount of torque that is reduced by the main shaft / end effector assembly 502. In other words, the main shaft drive 504 is the main shaft / end effector assembly 502 when the main shaft / end effector assembly 502 receives a net torque (including any torque required to overcome the induced friction) that exceeds the back driving threshold. Back driving torque such that effector assembly 502 causes the main shaft drive to back drive and does not cause the main shaft drive to back drive when main shaft / end effector assembly 502 receives a net torque below the back driving threshold. There may be a threshold. And, for example, a main shaft drive 504 with a main shaft 508 such as a torque brake, a non-reversible transmission, or the like to avoid the associated cost, size, weight, associated harmful characteristics, and / or costs. It is also desirable to avoid the use of certain mechanisms that prevent rotational driving (also known as back-driving).

  In the surgical assembly 500, the reaction actuation assembly 506 is an external source that generates actuation torque that is transmitted to the first and second rotation mechanisms 512, 514. The reaction actuation assembly 506 also generates a balance torque that is transmitted to the main shaft 508 to prevent back driving of the main shaft 504. The reaction actuation assembly 506 includes a first drive motor 516, a second drive motor 518, a first transmission 520, a first rotary coupling 522, a second transmission 524, and a second rotary coupling. 526.

  The first drive motor 516 is rotatably connected to the first drive mechanism 512 and the main shaft 508 via the first transmission 520 and the first rotary coupling 522. The first drive motor 516 is rotatably connected to the first input link 528 of the first transmission and transmits the first input torque to the first input link 528. The first transmission 520 provides a first gear ratio between the first input link 528 and the first output link 530 of the first transmission 520. The first output link 530 is rotatably connected to the first rotation mechanism 512. The first rotary coupling 522 is connected between the first base link 532 of the first transmission 520 and the main shaft 508. The first rotary coupling 522 provides a second gear ratio between the first base link 532 and the main shaft 508. The first base link 532 is not rotationally grounded (for example, not rotationally grounded to the base to which the main shaft 508 is rotatably attached).

  The first gear ratio provided by the first transmission 520 is sufficiently greater than that in which the first output link 530 transmits torque exceeding the first input torque. Since the first base link 532 of the first transmission 520 is not rotationally grounded, the difference between the torque transmitted by the first output link 530 and the first input torque is the first base link. Balanced by the opposite direction torque transmitted from 532 to the first rotary coupling 522. In many embodiments, the first gear ratio is approximately equal to the torque transmitted by the first output link 530 and the opposite direction torque transmitted from the first base link 532 to the first rotary coupling 522. It is significantly larger than one having a size. For example, in an embodiment where the first gear ratio is 9 to 1, the torque transmitted by the first output link 530 is nine times the first input torque. The torque in the opposite direction transmitted from the first base link 532 to the first rotary coupling 522 has a magnitude that is eight times the magnitude of the first input torque.

  The second gear ratio provided by the first rotary coupling 522 is such that the torque transmitted to the main shaft 508 by the first rotary coupling 522 is transferred to the main shaft drive 504 by the main shaft / end effector assembly 502. The torque transmitted to the main shaft / end effector assembly 502 by the first output link 530 is selected to be sufficiently balanced so as to inhibit the rotational drive of the first shaft. If the main shaft drive 504 has a non-zero back-driving torque threshold, the second gear ratio can be selected from a range of gear ratios and the main drive / end effector assembly 502 drives the main drive to rotate. Deterrence can still be brought about. Ideally, the second gear ratio balances the torque transmitted to the main shaft by the first rotary coupling to the main shaft / end effector assembly 502 by the first output link 530. Selected as Although not shown in FIG. 9, the first output link 530 of the first transmission 520 need not be directly rotationally coupled to the main shaft / end effector assembly 502, but instead is the first output link. The link 530 and the main shaft / end effector assembly 502 can be coupled in such a way as to provide a non-single gear ratio. If such a non-single gear ratio exists, the second gear ratio provided by the first rotary coupling 522 can be configured to offset the additional non-single gear ratio.

  In a similar manner, the second drive motor 518 is rotatably connected to the second drive mechanism 514 and the main shaft 508 via the second transmission 524 and the second rotary coupling 526. The second drive motor 518 is rotatably connected to the second input link 534 of the second transmission and transmits the second input torque to the second input link 534. The second transmission 524 provides a third gear ratio between the second input link 534 and the second output link 536 of the second transmission 524. The second output link 536 is rotatably connected to the second rotation mechanism 514. The second rotary coupling 536 is connected between the second base link 538 of the second transmission 524 and the main shaft 508. The second rotary coupling 526 provides a fourth gear ratio between the second base link 538 and the main shaft 508. The second base link 538 is not rotationally grounded (for example, not rotationally grounded to the base to which the main shaft 508 is rotatably attached).

  The third gear ratio provided by the second transmission 524 is sufficiently greater than that in which the second output link 536 transmits torque that exceeds the second input torque. Since the second base link 538 of the second transmission 524 is not rotationally grounded, the difference between the torque transmitted by the second output link 536 and the second input torque is 21 base links 538. To the second rotational coupling 526 is balanced by the opposite direction torque. In many embodiments, the third gear ratio is approximately equal to the torque transmitted by the second output link 538 and the opposite direction torque transmitted from the second base link 538 to the second rotary coupling 526. It is significantly larger than one having a size. For example, in an embodiment where the third gear ratio is 9 to 1, the torque transmitted by the second output link 536 is nine times the second input torque. The torque in the opposite direction transmitted from the second base link 538 to the second rotary coupling 526 has a magnitude that is eight times the magnitude of the second input torque.

  The fourth gear ratio provided by the second rotary coupling 526 is such that the torque transmitted to the main shaft 508 by the second rotary coupling 526 is driven by the main shaft drive 504 by the main shaft / end effector assembly 502. Is selected to sufficiently balance the torque transmitted to the main shaft / end effector assembly 502 by the second output link 536 so as to inhibit the rotational drive. If the main shaft drive 504 has a non-zero back-driving torque threshold, the fourth gear ratio may be selected from a range of gear ratios and the main shaft / end effector assembly 502 drives the main drive to rotate. Deterrence can still be brought about. Ideally, the fourth gear ratio balances the torque transmitted to the main shaft by the second rotary coupling to the main shaft / end effector assembly 502 by the second output link 536. Selected as Although not shown in FIG. 25, the second output link 536 of the second transmission 524 need not be directly rotationally coupled to the main shaft / end effector assembly 502, but instead is a second output. The link 536 and the main shaft / end effector assembly 502 can be coupled in such a way as to provide a non-single gear ratio. If such a non-single gear ratio exists, the fourth gear ratio provided by the second rotary coupling 524 can be configured to offset the additional non-single gear ratio.

  The first and second output links may be directly rotationally coupled to the first and second rotation mechanisms 512, 514, respectively, while the main shaft / end effector assembly 502 is coupled to the first output link 530 and the first rotation. A first gear assembly 540 that provides a gear ratio with a first drive shaft 542 that is rotationally coupled to the mechanism 512, and a second output link 536 and a second rotational mechanism 514 that are rotationally coupled to the second drive mechanism 514. A second gear assembly 544 that provides a gear ratio between the two drive shafts 546; For both the first and second gear assemblies 540, 544, the torque difference between their inputs and outputs can be responsive to the main shaft 508. Regardless of the gear ratio provided by the first and second gear assemblies 540, 544, the first and second gear assemblies 540, 544 are part of the main shaft / end effector assembly 502, so The main shaft 508 is such that any torque difference caused by the non-single gear ratio of the first and second gear assemblies 540, 544 is the torque transmitted to the first and second rotating mechanisms 512, 514. Is reacted by. As a result, the gear ratio of the first and second gear assemblies 540, 544 will cancel the operating torque transmitted to the main shaft / end effector assembly 502 by the first and second output links 530, 536. The structure of the reaction actuating assembly 506 (eg, gear ratio) is not affected by the magnitude of the reaction torque 507 used in the above.

  The reaction torque transmitted to the main shaft 508 via the reaction actuating assembly 506 is coupled to the main shaft / end effector pair via the first and second output links 530, 536 while inhibiting rotational drive of the main shaft 504. The torque transmitted to the solid 502 can exceed the back driving torque threshold of the main shaft drive 504. Back driving of the main shaft drive 504 even when the magnitude of the reaction torque exceeds the back driving torque threshold by the torque transmitted by the first and second output links 530, 536 to the main shaft / end effector assembly 502. The reaction actuation assembly 506 is configured to differ from the magnitude of the torque transmitted to the main shaft / end effector assembly 502 by the first and second output links 530, 536 by an amount of net torque that is less than the torque threshold. Is done. Preferably, even when the torque transmitted to the main shaft / end effector assembly 502 by the first and second output links 530, 536 exceeds the back driving torque threshold, the magnitude of the net torque is the back driving torque threshold. Less than 50 percent. More preferably, even when the torque transmitted to the main shaft / end effector assembly 502 by the first and second output links 530, 536 exceeds the back driving torque threshold, the magnitude of the net torque is the back driving torque. Less than 25 percent of threshold. Even more preferably, even when the torque transmitted to the main shaft / end effector assembly 502 by the first and second output links 530, 536 exceeds the back driving torque threshold, the magnitude of the net torque is Less than 10 percent of the torque threshold. And ideally, the magnitude of the net torque is not even when the torque transmitted to the main shaft / end effector assembly 502 by the first and second output links 530, 536 exceeds the back driving torque threshold. Less than 2 percent of the driving torque threshold. For example, if the main shaft / end effector assembly 502 is not rotationally coupled to the main shaft drive 504 (eg, in the event of a failure or the coupling between the surgical assembly 500 and the surgical robot is not properly established) The friction of the surgical assembly 500, which functions by inhibiting the rotation of the main shaft / end effector assembly 502 relative to the base, the main shaft / when the magnitude of the net torque is less than 2 percent of the back driving torque threshold It may be sufficient to prevent rotation of the end effector assembly 502.

  The first rotational coupling 502 and the second rotational coupling 536 may share one or more common components that are rotationally coupled to the main shaft 508. For example, a common drive shaft can be rotationally coupled to the main shaft to transmit reaction torque from one or both of the base links 532, 538 to the main shaft 508.

  Any suitable type of transmission can be used for the first and second transmissions, but a planetary gearbox can be used and configured to provide an appropriate gear ratio. Such a planetary gearbox may be configured to have a suitably small size that allows for use in the reaction actuation assembly 506. FIG. 26 shows an exemplary planetary gear set 550. The planetary gear set 550 is distributed around the sun gear 552, the ring gear 556, and the sun gear 552 attached to the input link 554, and rotates to each of the four planetary gears 558 that rotate and connect the sun gear 552 to the ring gear 556. A carrier 560 is included that is operatively coupled and supports each of the planetary gears 558.

  Further, the planetary gearbox includes first and second input links 528 and 534, first and second output links 530 and 536, and first and second transmissions of the first and second transmissions 520 and 524. Provide suitable features that can be used in any possible combination, such as base links 532, 538. For example, the sun gear may correspond to any one of first and second input links, first and second output links, and first and second base links. Similarly, the carrier may correspond to any one of the first and second input links, the first and second output links, and the first and second base links. The ring gear can correspond to any one of the first and second input links, the first and second output links, and the first and second base links. As a specific example of a suitable combination, the sun gear can correspond to the first / second input link, the carrier can correspond to the first / second output link, and the ring gear can correspond to the first / second input. It can correspond to the base link of. As another example, the sun gear can correspond to the first / second output link, the carrier can correspond to the first / second input link, and the ring gear can correspond to the first / second base link. Can respond. And for further illustration, the carrier or sun gear can correspond to the first / second base link.

  27a-29c show an embodiment of a minimally invasive robotic surgical instrument assembly 600 according to the surgical assembly 500 of FIG. Accordingly, the above details regarding the surgical assembly 500 apply to the surgical instrument assembly 600, and thus the above detailed portions may be omitted here. The instrument assembly 600 includes an actuation assembly 602 disposed at the proximal end of the instrument assembly. Main shaft 604 is rotatably attached to actuation assembly 602. A first drive shaft 606 and a second drive shaft 608 are attached for rotation within the main shaft 604 and are first of an end effector (not shown) supported on the distal end of the instrument assembly. Torque is transmitted to each of the rotation mechanism and the second rotation mechanism. FIG. 27a is a perspective external view of the actuation assembly. FIG. 27b shows the instrument set showing the motor pack 610 disconnected from the drive coupling 612 through which the first and second drive motors are rotationally coupled to the main shaft 604 and the first and second drive shafts 606,608. 3 is an exploded perspective view of a solid 600. FIG.

  FIG. 28 a is a perspective view of the internal components of the actuation assembly 600. 28b is an exploded perspective view showing the internal components of FIG. 28a in a disconnected state corresponding to FIG. 27b. FIG. 29a illustrates the instrument assembly 600 with the second drive motor, the second planetary gear transmission, and the second coupling shaft desired so as not to obscure the view of the remaining components. It is a perspective view which shows an internal component. FIG. 29b is an end view of the internal components of FIG. 29a. FIG. 29c shows an AA cross-sectional view of FIG. 29b. The instrument assembly 600 includes a first drive motor 614, a first planetary gear transmission 616, a second drive motor 618, a second planetary gear transmission 620, a first coupling shaft 622, and a second cup. A ring shaft 624 and a common feedback shaft 626 are included. Since the first and second planetary gear transmissions 616 and 620 are rotationally grounded to the main shaft, the first and second planetary gear transmissions 616 and 620 correspond to the first and second planetary gear transmissions 616 and 620 according to the rotation of the main shaft 604. It rotates with respect to each of the second drive motors 614 and 618.

  The first coupling shaft 622 forms part of the torque path between the carrier of the first planetary transmission 616 and the first drive shaft 606. The first drive motor 614 transmits the first input torque to the sun gear of the first planetary transmission 616. The carrier of the first planetary transmission 616 is rotationally coupled to the first drive shaft 606 via pinion gears that mesh with each other. And the first coupling shaft 622 is a “MOTOR INTERFACE FOR PARALLEL” filed on Nov. 13, 2009, as shown in FIGS. 29a and 29c, the entire disclosure of which is incorporated herein by reference. First drive through a pair of pinion gears and ring gears as described in US Provisional Application No. 61 / 260,919 (Attorney Docket No. ISRG02360PROV) entitled “DRIVE SHANTS WITH AN INDEPENDENTY ROTATING MEMBER” The shaft 606 is rotatably connected.

  Similarly, the second coupling shaft 624 forms part of the torque path between the carrier of the second planetary transmission 620 and the second drive shaft 608. Second drive motor 618 transmits the second input torque to the sun gear of second planetary transmission 620. The carrier of the second planetary transmission 620 is rotationally connected to the second drive shaft 624 via pinion gears that mesh with each other. And the second coupling shaft 624 is named “MOTOR INTERFACE FOR PARALLEL DRIVER SHAFTTS WITH AN INDEPENDENTY ROTATING MEMBER” filed on November 13, 2009, the entire disclosure of which is incorporated herein by reference. As described in US Provisional Patent Application No. 61 / 260,919 (Attorney Docket Number ISRG02360PROV), it is rotatably connected to the second drive shaft 608 via a pair of pinion gears and a ring gear.

  The common feedback shaft 626 is a part of the torque path between the base link of the first planetary transmission 616 and the main shaft 604 and the torque path between the base link of the second planetary transmission 620 and the main shaft 604. Form a part of The base link of the first planetary transmission 616 is rotatably connected to the common feedback shaft 626 via a pair of pinion gears, and one of the pair of pinion gears is a part of the base link of the first planetary transmission 616. Form. Similarly, the base link of the second planetary transmission 620 is rotatably connected to the common feedback shaft 626 via a pair of pinion gears, and one of the pair of pinion gears is the base link of the second planetary transmission 620. Form a part of The common feedback shaft 626 is rotatably connected to the main shaft 604 via a pair of pinion gears, and one of the pair of pinion gears is directly connected to the main shaft. The main shaft 604 is rotationally connected to a main drive motor (not shown) via a pair of helical gears 628 and 630.

  In operation, when the main shaft is not rotated, the common feedback shaft 626 and the base links of the first and second transmissions are also not rotated because they are rotationally connected to the main shaft. Since the base links of the first and second planetary transmissions are not rotationally grounded to the base of the operating assembly, the base link transmits reaction torque to the main shaft in response to input torque from the drive motor. The base link can rotate freely as determined by the rotation of the common drive shaft as determined by any rotation of the main shaft by the main drive motor.

  The instrument assembly 600 provides a number of advantages over alternative approaches that have been considered to prevent undesired main shaft rotation due to transmission of actuation torque to the end effector's rotation mechanism. For example, the instrument assembly 600 provides a high level of torque transmission to one or both of the first and second rotation mechanisms of the end effector supported by the independently rotatable main shaft while simultaneously maintaining the main It provides a transmission of reaction torque to the shaft, and can therefore result in substantially no net torque applied to the main shaft that can backdrive the main drive motor used to rotate the main shaft. Reaction torque transmission is accomplished passively, thus avoiding the use of components that may be required in an active approach. The instrument assembly 600 provides continuous linear performance in any direction of rotation without the possibility of a sudden release of energy. The instrument assembly 600 corresponds to a realistic packing solution that allows for a relatively large size motor and gearbox relative to the size of the main shaft. Instrument assembly 600 also exhibits substantial invariance to friction, wear, backlash, machining accuracy, and stiffness of components used in the mechanism. Because the transmission creates a kinematic closed system between the transmission and the main shaft, any backlash is absorbed in this closed system, so net torque exceeding the calculated remaining torque of the mechanism is Never added to the main shaft / end effector assembly. All of the aforementioned advantages are then provided in an instrument that provides free rotation of the main shaft by the main drive motor during transmission of torque to one or both of the first and second rotation mechanisms of the end effector.

The alternative approaches that have been considered do not provide one or more of the aforementioned advantages. Alternative approaches considered include one-way spur gears, worm gears that cannot be back-driven, friction brakes, main shaft rotation lock, extra power applied via the main drive motor, active rotation of the main shaft via the main drive motor Compensation, use of an auxiliary motor to compensate for the applied torque, and attachment of the motor and gearbox to the main shaft. In particular, the self-locking gear concept, in particular, since the gear set goes from locked to unlocked, changes in rotational direction during loading can cause sudden and quick mechanical energy release. Troubled by problems. The brake has a similar defect that the release of the brake can suddenly release energy.
(Torque balance calculation for example gear ratio)
FIG. 30 provides reference numeral identification for the following details regarding exemplary gear ratios that may be used in the surgical assembly 500 described above. The reaction actuation assembly 506 uses a similar configuration to couple the first and second drive motors 516, 518 with the main shaft / end effector assembly 502, so that the following details are also described in detail. The first drive motor 516 is described with respect to coupling the main shaft / end effector assembly 502 with the understanding that the present invention is also applicable to coupling the drive motor 518 with the main shaft / end effector assembly 502.

  The torque transmitted by the first output link 530 to the main shaft / end effector assembly 502 (Tc) can be calculated by equation (1).

Tc = Tm * P * ( _N1B / _N1A ) * ( _N1D / _N1C ) Formula (1)
Where Tm = drive torque of motor 1
P = Gear ratio of planetary gearbox P1
N _1A = number of gear teeth of gear 1A
N _1B = number of gear teeth of gear 1B
N _1C = number of gear teeth of gear 1C
N _1D = the number of gear teeth of the gear 1D.

  The reaction torque transmitted to the main shaft 508 (Tr) via the first base link 532 and the first rotary coupling 532 can be calculated by Equation (2).

Tr = −Tm × (P−1) × (N _3B / N _3A ) × (N _3D / N _3C ) Formula (2)
Where N _3A = number of gear teeth of gear 3A
N _3B = number of gear teeth of gear 3B
N _3C = number of gear teeth of gear 3C
N _3D = the number of gear teeth of the gear 3D.
(Separation of end effector drive shaft position from main shaft position)
In addition to providing reaction torque as described above, surgical assembly 500 and instrument assembly 600 may be implemented to substantially decouple the end effector drive shaft position from the main shaft position. For example, the configuration of the surgical assembly 500 is such that when the first and second input links 528, 534 do not rotate (ie, the first and second drive motors 516, 518 do not rotate), the main shaft drive 504 Can be selected such that rotation of the main shaft 508 does not cause a significant amount of rotation of the first and second drive shafts 542, 546 relative to the main shaft 508. The induced rotation of the first and second drive shafts 542, 546 can be less than 10 percent of the rotation of the main shaft 508. And in some embodiments, the induced rotation of the first and second drive shafts 542, 546 may be less than 5 percent of the rotation of the main shaft. This attribute is very beneficial. For example, in some embodiments, the first and second drive motors 516, 518 have a limited operating range. By substantially separating the position of the first and second drive motors 516, 518 from the position of the main shaft 508, the operating range of the main shaft is limited to the operation of the first and second drive motors 516, 518. Not limited by range. Further, since such decoupling prevents substantial actuation of the first and second rotation mechanisms 512, 514 in response to slight rotation of the main shaft, such decoupling is the first and second rotation mechanisms. Useful for the operational characteristics of the end effector with respect to 512, 514. For example, if one of the first and second rotation mechanisms 512, 514 is used to actuate the anastomosis mechanism, the disconnection is caused by the rotation of the main shaft 508, the first and second rotation mechanisms 512, 514. Helps to prevent inadvertent firing of staples due to rotation of the web. Further, in the absence of such disconnection, the first and second drive motors 516 may observe the position of the main shaft 508 and correct the induced motion of the first and second drive shafts 542, 546. It may be necessary to use the observed position to generate 518 reaction rotations.

The amount of rotation of the first drive shaft 542 caused by the rotation of the main shaft 508 can be calculated by equation (3). As can be appreciated, the parameters corresponding to the second drive shaft 546 are the first in Equation (3) to calculate the amount of rotation of the second drive shaft 546 caused by the rotation of the main shaft 508. Can be substituted into parameters corresponding to the drive shaft 542.

Formula (3)

ここで、Ｎ_１Ｅ＝ギヤ１Ｅのギヤの歯数
Ｎ_１Ｆ＝ギヤ１Ｆのギヤの歯数、である。

Where N _1E = number of gear teeth of gear 1E
N _1F = the number of gear teeth of the gear 1F.

Tables 1-3 list the transmission device parameters, resulting unit torque calculations, and the level of rotation caused for the end effector drive shaft of the exemplary embodiment.

(Table 1. First Exemplary Embodiment)

(Table 2 Second Exemplary Embodiment)

(Table 3 Third Exemplary Embodiment)

(Related method)
FIG. 31 illustrates a method 700 for preventing actuation torque transmitted to an end effector from backdriving a main shaft that can be backdriven during surgery, according to many embodiments. The surgical assembly 500 and instrument assembly 600 described above can be used to perform the method 700. And one or more of the following operations may be omitted.

  In operation 702, the input link of the first transmission includes an output link of the first transmission including the first output torque including the main output shaft and the end effector supported by the main shaft, and the first end effector torque. Rotated to transmit to the main shaft assembly that transmits to the end effector. The first transmission device provides a first gear ratio between the first input link and the first output link. The first output torque is greater than a main shaft back driving torque threshold operable to rotationally drive the main shaft assembly.

  In act 704, torque is transmitted from the base link of the first transmission to the main shaft via the first rotary coupling. The first rotary coupling has a second gear ratio between the first base link and the main shaft so that a first reaction torque that is opposite to the first output torque is applied to the main shaft. provide. The first reaction torque suppresses the rotational drive of the main shaft assembly by the first output torque.

  When the main shaft assembly is exposed to net torque exceeding the back driving torque threshold, the main shaft back drives the main shaft driving device and the main shaft assembly is exposed to net torque below the back driving torque threshold. May have a back driving torque threshold that does not back drive the main shaft drive when operated. Preferably, the magnitude of the first reaction torque differs from the magnitude of the first output torque by a first net torque that is less than 50 percent of the back driving torque threshold. More preferably, the magnitude of the first net torque is less than 25 percent of the back driving torque threshold, even when the first output torque exceeds the back driving torque threshold. Even more preferably, the magnitude of the first net torque is less than 10 percent of the back driving torque threshold even when the first end effector torque exceeds the back driving torque threshold. Ideally, the magnitude of the first net torque is less than 2 percent of the back driving torque threshold even when the first end effector torque exceeds the back driving torque threshold.

  In act 706, the second input link of the second transmission is configured such that the output link of the second transmission transmits the second output torque to the main shaft assembly and the second end effector torque to the end effector. Rotated to transmit. The second transmission device provides a third gear ratio between the second input link and the second output link. The second output torque is greater than the back driving torque threshold of the main shaft driving device.

  In act 708, torque is transmitted from the second base link of the second transmission to the main shaft via the second rotary coupling. The second rotary coupling has a fourth gear ratio between the second base link and the main shaft so that a second reaction torque that is opposite to the second output torque is applied to the main shaft. provide. The second reaction torque suppresses the rotational drive of the main shaft assembly by the second output torque.

  The first and second rotational couplings may share one or more common components. For example, the first and second rotary couplings can share a common drive shaft.

  Other variations are within the spirit of the invention. Accordingly, the invention is susceptible to various modifications and alternative constructions, and specific described embodiments are shown in the drawings and are described in detail. However, it is not intended to limit the invention to the particular form or form disclosed, but rather to the spirit and scope of the invention as defined by all modifications, alternative constructions, and appended claims. It should be understood that it is intended to cover equivalents belonging to.

  The use of the terms “a”, “an”, “the” (one), and similar indicators (particularly in the context of the following claims) in the context of describing the present invention is indicated herein. It should be construed to encompass both the singular and plural unless specifically stated otherwise, or unless clearly denied by context. The term “comprising”, “having”, “including”, and “containing” ”means as an open-ended term (ie,“ including but not limited to ”) unless stated otherwise. ) Should be interpreted. The term “connected” should be construed as partially or fully contained, attached or coupled together, even if something is intervening. The recitation of value ranges in this application, unless indicated otherwise, is merely intended to serve as a shorthand notation for individually referring to each independent value falling within the range, where each independent value is Are incorporated into the specification as individually referenced. All methods described in this application may be performed in any suitable order unless otherwise indicated herein or otherwise clearly contradicted by context. The use of any and all examples, or exemplary language used in the present application (eg, “etc.”) is merely intended to better clarify embodiments of the invention, and is set forth in the claims. Unless done, it does not limit the scope of the invention. The language of the specification should not be construed as indicating any non-claimed element as essential to the practice of the invention.

  Preferred embodiments of this invention are described herein, including the best mode known to the inventors for carrying out the invention. Variations of these preferred embodiments will become apparent to those skilled in the art upon reading the foregoing description. The inventor expects skilled artisans to properly use such variations, and the inventor intends the invention to be implemented in other ways than those specifically described herein. Accordingly, this invention includes all modifications and equivalents of the subject matter recited in the claims appended hereto as permitted by applicable law. Moreover, any combination of the above-described components in all possible variations thereof is encompassed by the invention unless otherwise indicated herein or otherwise clearly contradicted by context.

  All references cited in this application, including publications, patent applications, patents, are individually and clearly indicated that each reference is incorporated by reference, and is fully described herein. To the same extent, the same is incorporated herein by reference.

Claims (15)

A minimally invasive robotic surgical assembly comprising:
base;
A main shaft assembly including a main shaft rotatably attached to the base, an end effector supported by the main shaft, and a first end effector drive shaft drivably coupled to the end effector;
A main shaft driving device that rotationally drives the main shaft with respect to the base;
A first input drive shaft for transmitting a first input torque; and a first input link rotatably connected to the first input drive shaft; rotatably connected to the first end effector drive shaft. A first transmission having a first output link and a first base link;
The first transmission is arranged between the first input link and the first output link so as to transmit a first output torque to the main shaft assembly according to the first input torque. To provide a first gear ratio,
A first end effector torque is transmitted to the end effector by the first end effector drive shaft in response to the first output torque;
The first base link transmits a first reaction torque, which is opposite to the direction from the first output torque, to the main shaft according to the first input torque. The first shaft is rotatably coupled to the main shaft at a second gear ratio, and the first reaction torque inhibits rotation of the main shaft assembly by the first output torque.
Surgical assembly. Said first reaction torque, that have a magnitude that is within 10 percent the size of the first output torque,
The surgical assembly according to claim 1. The first output link is coupled to the first end effector drive shaft via a rotary coupling that provides a non-single gear ratio;
The surgical assembly according to claim 1. The main shaft assembly is configured such that when the main shaft is exposed to a net torque exceeding a back driving torque threshold, the main shaft back drives the main shaft driving device and the main shaft is a net torque less than the back driving torque threshold. The back driving torque threshold so as not to back drive the main shaft drive when exposed to
The first reaction torque has a magnitude that differs from the magnitude of the first output torque by a first net torque that is less than the back-driving torque threshold.
The surgical assembly according to claim 1. The magnitude of the first net torque is less than 50 percent of the back driving torque threshold;
The surgical assembly according to claim 4. Wherein the first transmission includes a first sun gear, a first planetary gear supported by the first ring gear, and a first carrier, that having a first planetary gear box,
The surgical assembly according to claim 1. The rotation of the main shaft, Kos provoked rotation of said first end effector drive shaft of less than 10 percent of the rotation of the main shaft,
The surgical assembly according to claim 1. A second end effector drive shaft drivably coupled to the end effector and included in the main shaft assembly;
A second input drive shaft for transmitting a second input torque; and a second input link rotatably connected to the second input drive shaft, and rotatably connected to the second end effector drive shaft. A second transmission having a second output link and a second base link;
The second transmission device is provided between the second input link and the second output link so as to transmit a second output torque to the main shaft assembly according to the second input torque. To provide a third gear ratio,
A second end effector torque is transmitted to the end effector by the second end effector drive shaft in response to the second output torque;
The second base link transmits a second reaction torque, which is opposite to the direction from the second output torque, to the main shaft according to the second input torque. As described above, the second shaft is rotatably connected to the main shaft at a fourth gear ratio, and the second reaction torque suppresses the rotational drive of the main shaft assembly by the second output torque.
The surgical assembly according to claim 1. It said second reaction torque is Ru der within 10 percent of the magnitude of the second output torque,
The surgical assembly according to claim 8. The second output link is coupled to the second end effector drive shaft via a rotary coupling that provides a non-single gear ratio;
The surgical assembly according to claim 8. The first and second base links have a common drive shaft rotatably coupled to the main shaft;
The surgical assembly according to claim 8. The main shaft assembly is configured such that when the main shaft is exposed to a net torque exceeding a back driving torque threshold, the main shaft back drives the main shaft driving device and the main shaft is a net torque less than the back driving torque threshold. The back driving torque threshold so as not to back drive the main shaft drive when exposed to
The second reaction torque has a magnitude that differs from the magnitude of the second output torque by a second net torque that is less than the back-driving torque threshold.
The surgical assembly according to claim 8. The magnitude of the second net torque is less than 50 percent of the back driving torque threshold;
The surgical assembly according to claim 12 . It said second transmission includes a second sun gear, a second ring gear, and a second planetary gear supported on a second carrier, that having a second planetary gearbox,
The surgical assembly according to claim 8. Wherein the first transmission includes a first sun gear, a first planetary gear supported by the first ring gear, and a first carrier, that having a first planetary gear box,
The surgical assembly according to claim 14.

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